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Commit 5b33ecee 由 张东亮
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放料完成检测工单情况

1 个父辈 7390aa08
内嵌 并排
正在显示 2 个修改的文件 包含 20 行增加 和 12 行删除
source/DeviceLibrary/manager/SServerManager.cs
...@@ -786,7 +786,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -786,7 +786,7 @@ namespace OnlineStore.DeviceLibrary
public static ShelfTaskInfo ShelfFinish(string rfid, string barcode = "", string rfidLoc = "0", string robotIndex = "1") public static ShelfTaskInfo ShelfFinish(string rfid, string barcode = "", string rfidLoc = "0", string robotIndex = "1")
{ {
UpdateLocInfo(barcode, "END", rfid); //UpdateLocInfo(barcode, "END", rfid);
LogUtil.info($"ShelfFinish rifd【{rfid}】barcode【{barcode}】rfidLoc【{rfidLoc}】robotIndex【{robotIndex}】"); LogUtil.info($"ShelfFinish rifd【{rfid}】barcode【{barcode}】rfidLoc【{rfidLoc}】robotIndex【{robotIndex}】");
return null; return null;
} }
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
...@@ -49,12 +49,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -49,12 +49,12 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(Name + "StartInstore 失败，料串" + CurrShelf.ToStr() + "需要离开，NeedLeave:" + Config.AgvName + "," + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString()); LogUtil.info(Name + "StartInstore 失败，料串" + CurrShelf.ToStr() + "需要离开，NeedLeave:" + Config.AgvName + "," + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString());
return false; return false;
} }
else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH) ) else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH))
{ {
MoveInfo.NewMove(MoveType.InStore,new InOutParam()); MoveInfo.NewMove(MoveType.InStore, new InOutParam());
IB03_LineStart(); IB03_LineStart();
} }
else if(Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH)) else if (Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
{ {
MoveInfo.NewMove(MoveType.InStore, new InOutParam()); MoveInfo.NewMove(MoveType.InStore, new InOutParam());
IB04_LineWait(); IB04_LineWait();
...@@ -211,7 +211,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -211,7 +211,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove)) else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove))
{ {
CheckHasTray(); CheckHasTray();
}else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4)) }
else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4))
{ {
if (Robot.AxisIsInShelfUp(ShelfType)) if (Robot.AxisIsInShelfUp(ShelfType))
{ {
...@@ -428,18 +429,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -428,18 +429,18 @@ namespace OnlineStore.DeviceLibrary
//判断扫码点是否可用，可用，运动到扫码点 //判断扫码点是否可用，可用，运动到扫码点
int currP = BatchAxis.GetAclPosition(); int currP = BatchAxis.GetAclPosition();
int targetPosition = currP + Config.BatchAxisP4; int targetPosition = currP + Config.BatchAxisP4;
if (Config.BatchAxisP4 > 0 &&(targetPosition<Config.BatchAxisP2 )) if (Config.BatchAxisP4 > 0 && (targetPosition < Config.BatchAxisP2))
{ {
batchAxisReelPosition = currP; batchAxisReelPosition = currP;
toBatchP4 = true; toBatchP4 = true;
MoveInfo.NextMoveStep(StepEnum.IB08_BatchAxisToP4); MoveInfo.NextMoveStep(StepEnum.IB08_BatchAxisToP4);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
BatchAxis.AbsMove(MoveInfo, targetPosition, Robot.Config.BatchAxis_P4Speed); BatchAxis.AbsMove(MoveInfo, targetPosition, Robot.Config.BatchAxis_P4Speed);
WorkLog("料盘已到位，批量轴当前位置【"+currP+ "】，扫码上升高度P4【" + Config.BatchAxisP4+"】可用，批量轴走到扫码点【"+ targetPosition + "】"); WorkLog("料盘已到位，批量轴当前位置【" + currP + "】，扫码上升高度P4【" + Config.BatchAxisP4 + "】可用，批量轴走到扫码点【" + targetPosition + "】");
} }
else else
{ {
LogUtil.info(Name + "料盘已到位，批量轴当前位置【" + currP + "】扫码上升高度P4【" + Config.BatchAxisP4 + "】扫码点【" + targetPosition + "】P2【"+ Config.BatchAxisP2 + "】,可直接扫码"); LogUtil.info(Name + "料盘已到位，批量轴当前位置【" + currP + "】扫码上升高度P4【" + Config.BatchAxisP4 + "】扫码点【" + targetPosition + "】P2【" + Config.BatchAxisP2 + "】,可直接扫码");
if (Robot.AxisIsInShelfUp(ShelfType)) if (Robot.AxisIsInShelfUp(ShelfType))
{ {
MoveInfo.NextMoveStep(StepEnum.IB09_WaitCanScan); MoveInfo.NextMoveStep(StepEnum.IB09_WaitCanScan);
...@@ -475,7 +476,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -475,7 +476,7 @@ namespace OnlineStore.DeviceLibrary
} }
private void SendInShelfLeave(string msg = "") private void SendInShelfLeave(string msg = "")
{ {
WorkLog(" SendInShelfLeave :" + msg+",清空条码"); WorkLog(" SendInShelfLeave :" + msg + ",清空条码");
LastCodeList = new List<string>(); LastCodeList = new List<string>();
preCodeList = new List<string>(); preCodeList = new List<string>();
bool needLeave = true; bool needLeave = true;
...@@ -617,10 +618,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -617,10 +618,17 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
if (SServerManager.GetOutTaskCount(MoveInfo.MoveParam.PosInfo.hSerial) == 0)
{
SendOutShelfLeave("检测到工单已结束:" + MoveInfo.MoveParam.PosInfo.hSerial);
}
else
{
MoveInfo.NextMoveStep(StepEnum.IS11_ShelfReady); MoveInfo.NextMoveStep(StepEnum.IS11_ShelfReady);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
} }
} }
}
else if (MoveInfo.IsStep(StepEnum.IS12_AxisDown)) else if (MoveInfo.IsStep(StepEnum.IS12_AxisDown))
{ {
MoveInfo.NextMoveStep(StepEnum.IS13_WaitReel); MoveInfo.NextMoveStep(StepEnum.IS13_WaitReel);
...@@ -812,11 +820,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -812,11 +820,11 @@ namespace OnlineStore.DeviceLibrary
if (!result) if (!result)
{ {
LogUtil.error(logName + $" 等待{ Config.IO_LineIn_Check}=High 超时， 等待 {Config.IO_LineEnd_Check } 信号"); LogUtil.error(logName + $" 等待{Config.IO_LineIn_Check}=High 超时， 等待 {Config.IO_LineEnd_Check} 信号");
} }
else else
{ {
LogUtil.info(logName + $"已收到 {Config.IO_LineIn_Check}=High ， 等待 { Config.IO_LineEnd_Check} 信号"); LogUtil.info(logName + $"已收到 {Config.IO_LineIn_Check}=High ， 等待 {Config.IO_LineEnd_Check} 信号");
} }
result = Robot.WaitIo(Config.IO_LineEnd_Check, IO_VALUE.HIGH, 60000); result = Robot.WaitIo(Config.IO_LineEnd_Check, IO_VALUE.HIGH, 60000);
...@@ -886,7 +894,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -886,7 +894,7 @@ namespace OnlineStore.DeviceLibrary
bool result = Robot.WaitIo(Config.IO_LineIn_Check, IO_VALUE.LOW, 60000); bool result = Robot.WaitIo(Config.IO_LineIn_Check, IO_VALUE.LOW, 60000);
if (!result) if (!result)
{ {
LogUtil.error(logName + $" 等待 { Config.IO_LineIn_Check}=LOW超时，等待8000后停止转动，发送FinishLeave"); LogUtil.error(logName + $" 等待 {Config.IO_LineIn_Check}=LOW超时，等待8000后停止转动，发送FinishLeave");
} }
else else
{ {
......
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